The Analysis Of Inverse Kinematics And Research On Controlling Of Trajectory During Working Process Of Coal Sample Manipulator

The increase of coal led to the increase of traffic on the increasingly high demandfor coal sampling, the stationary form mainly used in currently industry coal sampling,but there are many limitations in terms of applicability, in the future mechanizationsampling with flexible mobility instead manual sampling imperative.Based on this background and combing the actual project, aiming at the problem oflow sampling precision, poor stability and movement speed is slow appeared in thedebugging work, the kinematics and trajectory planning of the coal sample manipulatorare researched. The main research works as follow：Firstly, the development of coal sample and research on manipulator are surveyed.The structure and working characteristics are analyzed. And the meanings of the thesisare pointed out. The link coordinate system of the coal sample manipulator wasestablished, and the coordinate system was varied in order to finish Kinematics in D-Hmethod in many conditions for its structure.Secondly, getting inverse solutions group through the inverse kinematics analysisand adopting working area partition and positioning method, the optimization of inversekinematics solutions worked out, and verifying this method under the typical Workingcondition.Finally, giving a brief introduction of the mainstream methods of trajectoryplanning of industrial robot, working out the result of trajectory planning of samplemanipulator, and establish the three-dimensional model through solidworks software,finishing the motion simulation of trajectory planning, and the curve of displacement,speed and accelerated velocity during the motor process worked out, providing thetheoretical foundation for the implementation of real-time control. And reference and design ideas for the design of controlling system of similar industrial robot provided andvery important practical value included.